Yaw rate forecasting

• US 9,096,201 B2
• Filed: 03/18/2011
• Issued: 08/04/2015
• Est. Priority Date: 03/18/2011
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH, Robert Bosch LLC (Robert Bosch GmbH)
• Original Assignee: Robert Bosch GmbH
• Inventors: Nesbitt, Richard T.
• Primary Examiner(s): Nguyen, John Q
• Assistant Examiner(s): KIM, KYUNG J
• Application Number:
  US13/051,147
• Publication Number:
  US 20120239241A1
• Time in Patent Office: 1,600 Days
• Field of Search: 701/29, 701/29.2, 701/30.2
• US Class Current: 1/1
• CPC Class Codes: B60T 17/22 Devices for monitoring or checking brake systems; Signal devices
• CPC Class Codes: B60T 2250/03 Vehicle yaw rate
• CPC Class Codes: B60T 2270/86 Optimizing braking by using ESP vehicle or tire model
• CPC Class Codes: B60T 8/17551 determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters

Abstract

A yaw-rate forecasting system for a vehicle. The system includes a yaw rate sensor and an electronic control unit. The yaw rate sensor is configured to detect a yaw rate of the vehicle and to generate a signal indicative of the detected yaw rate. The electronic control unit is coupled to the yaw rate sensor, and is configured to receive the signal indicative of the yaw rate of the vehicle from the yaw rate sensor, forecast a future yaw rate, determine a stability of the vehicle using the forecasted yaw rate, and to generate a signal to control actuation of a vehicle brake.

Claims

1. A yaw-rate forecasting system for a vehicle, the system comprising:

a yaw rate sensor configured to detect a yaw rate of the vehicle and generate a signal indicative of the detected yaw rate;

an electronic control unit coupled to the yaw rate sensor, the electronic control unit configured to receive the signal indicative of the yaw rate of the vehicle from the yaw rate sensor, generate a model of a future yaw rate using the detected yaw rates, verify an adequacy of the model, extend the model if the model is found to be inadequate, forecast a future yaw rate based on the model, or extended model if the model is found to be inadequate, determine a stability of the vehicle using the forecasted yaw rate, determine, an action to take based at least in part on the predicted yaw rate, and generate a signal to control actuation of a vehicle brake;

wherein the model is determined to be adequate when a significant reduction in a residual sum of squares is no longer seen with a higher order model.

2. The system of claim 1, wherein the model takes the form

X_t=φ

₁·

X_t-1÷

φ

₂·

X_t-2÷

. . .÷

φ

_n·

X_t-n+a_t 

 

(1.2)

where,

X_t=Data at time t,

ø

=model parameter (constant),

_xt-1=Data at time t-1, and

a_t=sequence of uncorrelated variables.

3. The system of claim 1, wherein the model is a first order autoregressive model.

4. The system of claim 3, wherein the model is tested for adequacy and the model is increased one order of autoregression and one order of moving average when the model is not adequate.

5. The system of claim 4, wherein the testing for adequacy and the increasing the order of the autoregression and of the moving average is repeated until the model is found to be adequate.

6. The system of claim 5, wherein the parameters of the model found to be adequate are examined, and the model is reduced when one or more of the parameters is found to be zero.

7. The system of claim 6, wherein the order of the autoregression is reduced when an autoregression parameter is zero.

8. The system of claim 6, wherein the order of the moving average is reduced when a moving average parameter is zero.

9. The system of claim 6, wherein one or more autoregression parameters are obtained using least squares estimates.

10. The system of claim 6, wherein a higher order autoregression parameter is obtained using an ordinary regression formula.

11. The system of claim 6, wherein a moving average parameter is estimated using a nonlinear least squares.

12. The system of claim 1, wherein the model is determined to be adequate when at least one of an F-test returns a significance value below a predetermined threshold, and a unified autocorrelation is within a predetermined band.

13. A method of stabilizing a vehicle based on a predicted future yaw rate of a vehicle, the method comprising:

detecting a plurality of yaw rates of the vehicle over a period of time by a yaw rate sensor;

providing an indication of the detected yaw rates to a controller;

the controller;

generating a model of a future yaw rate using the detected yaw rates;

verifying an adequacy of the model;

extending the model if the model is found to be inadequate;

determining a predicted yaw rate for a moment in the future based on the model,

or the extended model if the model was found to be inadequate;

providing the predicted yaw rate to an electronic stability control system; and

determining, by the electronic stability control system, an action to take based at least in part on the predicted yaw rate, and generating a signal to control actuation of a vehicle brake;

wherein the model is determined to be adequate when a significant reduction in a residual sum of squares is no longer seen with a higher order model.

14. The method of claim 13, wherein the model is a first order autoregression, and further comprising testing the model for adequacy, increasing one order of autoregression and one order of moving average when the model is not adequate.

15. The method of claim 13, further comprising examining the parameters of a model verified as adequate, and reducing the model when one or more of the parameters is found to be zero.

16. The method of claim 13, further comprising determining the model is adequate when a significant reduction in a residual sum of squares is no longer seen with a higher order model.

17. The method of claim 13, further comprising determining the model is adequate when at least one of an F-test returns a significance value below a predetermined threshold, a residual autocorrelation of variables is below a predetermined threshold, and a unified autocorrelation is within a predetermined band.